In Hebrews chapter 4, Paul reminds the Jews that there is rest in Jesus through faith. In verse 8 Paul shows that Joshua still speaks of a future rest so entering the promise land was not the rest. If we hear the word without faith it does not benefit us, but if we hear the word with faith we can rest.
If we buy a house we expect to take possession of the house. We cannot enter the rest if we say we believe in Jesus, but don’t give Jesus access to every part of us. Just as an Ox trains a young one to stay on course no matter how much it fights, Jesus will train us to stay on course. We will have peace with God when we cooperate. We will have the peace of God when we trust Him.